Pennsylvania ? Lost for two days in a seven-mile-long cave in West Virginia, five friends were bruised, shivering and had run out of food and water. Three prayed for help, then heard a faint voice.

“I collapsed and started crying,” said Heidi McWilliams, 20. “I thought we were hearing things.”

McWilliams and her fellow explorers in the 718-foot-deep Mingo-Simmons cave, 130 miles east of Charleston, were treated for minor injuries and returned Tuesday to their homes in central Pennsylvania, a day after their rescue.

Authorities got their first call after the owner of the property on which one of the cave entrances sits noticed the group’s car still parked outside late Saturday.

Members of the National Cave Rescue Commission arrived from West Virginia and four other states, and state police, the Red Cross and the Salvation Army were also on the scene. Rescuers used wired radios to stay in contact.

Finally, after several failed attempts, the five were found about 11:30 a.m. Monday.